RU2460966C1 - Method of beam control over rolling missile and beam-controlled rolling missile - Google Patents

Abstract

FIELD: weapons and ammunition.

SUBSTANCE: proposed method comprises launching and moving missile in control field with rudders folded inside airframe in lengthwise grooves, opening radiation receiver and changing rudders in outside position. It includes generation of first and second channel control signals proportional to missile deviations in control field relative to sighting line in horizontal and vertical planes. It includes generation of carrier frequency periodic signals proportional to missile roll sine and cosine. It comprises demodulation of signals proportional to first and second actuator rudders by carrier frequency signals. Smoothing in frequency band Δω and subtracting signals smoothed in first and second channels from appropriate control signals. Besides, it comprises generation of control signals for first and second actuators by modulation of signal difference in first and second control signals by carrier frequency signals and rudder deviation signals in compliance with control signals. Deviations of rudders after missile start is performed inside missile airframe grooves. Extending rudders outside of airframe is executed after time interval τ₃=(0.3…0.5)/Δω counted from the moment of radiation receiver opening.

EFFECT: higher accuracy.

3 cl, 3 dwg

Description

The proposed group of inventions relates to the field of armament, in particular to the field of guided rockets rotating along an angle of roll, and can be used in the design of missiles fired from a transport and launch container by means of a launch engine operating in an uncontrolled flight section, or fired from a gun barrel using a throwing device.

Currently, there is a known guided missile guidance method, implemented, for example, in the Kastet, Bastion, Reflex, Sturm, Cobra, Whirlwind anti-tank systems (Angelsky R. D. Domestic anti-tank systems, Moscow , ACT, Astrel, 2002, pp. 74-75, 84, 100, 111-114, 175-177 [1]), including orienting the launcher with the missile in the direction of the control field, moving the rocket into the control field by firing from the starting device , subsequent opening of the radiation receiver, the disclosure of the rudders and the deviation of the rudders in proportion cial coordinates of the rocket in the control field.

Hereinafter, the control field is understood as the region of determining the coordinates of the rocket relative to the line of sight and this can be, for example, the field of view of the direction finder of the rocket in the command control system implemented in the Sturm, Cobra complexes or the information field of the beam (radio beam or laser beam) ), formed by the guidance device in the beam missile control system implemented in the Kastet, Bastion, Reflex, and Whirlwind complexes.

In the literature (V.I. Babichev, V.V. Vetrov and others. Fundamentals of the design and functioning of artillery guided shells, ed. TulSU, Tula, 2003, pp. 56-61, 71-74 [2] describes a guided missile guidance method including the orientation of the launcher with the missile in the direction of the control field (the area inside the laser information beam) at given angles in the horizontal and vertical planes, respectively, the movement of the rocket in the control field by firing from the launcher (gun barrel), opening the radiation receiver, osleduyuschy steering transfer bodies from the initial position (inside the missile body) to the working (outside the enclosure), and the deflection is proportional missile rocket coordinates in the control field.

The operations of the known method of guidance missiles (complexes "Brass knuckles", "Reflex", "Whirlwind") is as follows.

The operator, having detected the target, combines the aiming line (optical axis of the sight) and the zero axis of the coordinate determination equipment (optical axis of the laser radiation source) coinciding with it with the aiming point and launches the rocket. The rocket is moved into the control field by firing from a gun barrel or from a container oriented in the direction of the control field at given angles in the horizontal and vertical planes, respectively.

After the rocket enters the control field, the radiation receiver mounted on the rocket starts to work, and the coordinate determination equipment senses the frequency-modulated laser radiation and, deciphering it, determines the coordinates of the rocket relative to the axis of the laser emitter (i.e., relative to the aiming line).

Signals proportional to the coordinates of the rocket relative to the axis of the beam are fed to the input of the steering gear unit. The rudders of the steering drive unit, deviating from their average position, create a control moment acting on the rocket, which leads to the emergence of control forces that keep the rocket near the center of the control field for the entire duration of the flight of the rocket to the target.

This control method is implemented in a rocket, which is driven in a direct beam of a laser and rolls along a roll, which is fired by a throwing device from the barrel of a gun that has a contactor electrically connected to the steering wheel opening mechanism, [2], pp. 72-74.

The beginning of the functioning of the rocket radiation receiver coincides in time with the moment the protective cover of the radiation receiver opens (the rocket tray can play the role of a protective cover ([2], p. 71), which is reset after the rocket leaves the bore).

For example, for a 9M119M rocket, after the rocket leaves the bore, the pallet is reset, and the radiation receiver starts to function and contact groups close, one of which supplies voltage to the electric igniter of the rudder opening mechanism (the rudder opening mechanism has single-action pyrotechnic drives based on the operation of electric igniters, followed by the conversion of the energy of expanding gases into mechanical displacement [2], p.61).

Thus, there is a coincidence of the moments of the appearance of the signal at the radiation receiver (allocation of coordinates relative to the axis of the laser beam) and the development of the steering gear generated by the received control commands.

RF patent No. 2373479, IPC F41G 7/00 describes a method for generating control commands for a two-channel missile rotating around a longitudinal axis, based on the coverage of the steering drive by flexible feedback along the envelopes of the output signals. It lies in the fact that they form control signals U ₁ , U _{2 of the} first and second channels, proportional to the linear deviations of the rocket relative to the aiming line, respectively, in horizontal and vertical planes, form periodic signals of the carrier frequency s (γ), c (γ), proportional to the sine and the cosine of the angle of heel γ of the rocket, demodulate signals proportional to the angles of deviation of the rudders of the first and second steering gears with carrier frequency signals, subtract the signals obtained as a result of demodulation in the first and second channels ah of the respective control signals and generating control signals to the first and second steering transmission by modulating the received signal difference in the first and second carrier signals of frequency control channels further signals after demodulation the deflection of the first and second steering actuators are passed through low-pass filters having a transfer function

T_Ф=4·ξ_ПЛ·T_ПЛ·n_Э, с; n=2·n_Э+3·ξ_ПЛ;Where

T _Ф = 4 · ξ _PL · T _PL · n _Э , s; n = 2 · n _E + 3 · ξ _PL ;

;

, с,

;

, from,

k _RP , k _ДУ - transmission coefficients, respectively, of the steering gear, the steering wheel angle sensor;

φ _ЗЖ - the desired value of the phase margin of the automatic missile control system, ... °,

ξ _PL - the relative damping coefficient of the rocket glider,

f _PL - the natural frequency of the rocket glider, Hz,

and before modulation, the signals of the difference of the first and second channels are passed through the phase shifter to the phasing angle

γ _Ф = ω ₀ · τ _RP ,

where ω ₀ - the circular frequency of rotation of the rocket roll, 1 / s,

τ _RP - equivalent time constant of the steering gear, sec.

The above control method is implemented in a command generation device (RF patent No. 2373479, IPC F41G 7/00), the block diagram of which is shown in FIG. The device includes a radiation receiver PI 1, on-board equipment electronic BAE 2, performance-correcting device (IKU). IKU, in turn, includes the first steering gear (RP1) 12, containing the first adder 13, the first trigger device 17, the first and second power amplifiers 19, 20, the first and second steering machines 23, 24, the first feedback potentiometer (angle sensor steering deviation) 27, the second steering drive (RP2) 15, containing the second adder 16, the second trigger device 18, the third and fourth power amplifiers 21, 22, the third and fourth steering machines 25, 26, the second feedback potentiometer 28, the first and second subtraction blocks 3, 4, modulators 5, 6, 7, 8, 29, 30, 31, 32, tr thium adder 9, third subtraction unit 11, fourth subtraction unit 33, fourth adder 34, first amplifier 35, second amplifier 36, stabilized voltage source 10, roll angle sensor of the gyroscopic coordinator 14, to which a phase shifter made on four amplifiers 35, 36 is added , 37, 38, the fifth adder 39, the fifth block of subtraction 40 and two low-pass filters (LPF) 41, 42.

In a missile control system, the device performs the functions of correcting control signals and converting signals from a measuring (beam) coordinate system into a coordinate system associated with a rotating missile. Transfer function of the corrective device

where T _f - the time constant of the low-pass filter,

,n = 1 + K _RP · K _DU · K _{low-pass filter} ;

,

identical to the transfer function of the differentiating filter widely used for correcting control systems (including missile telecontrol systems), i.e. IKU has pronounced differentiating properties.

The known control method implements radial correction of the trajectory of the rocket, in which the elimination of the deviation of the rocket from the line of sight occurs along the shortest path and provide the required stability and accuracy of the missile control loop.

However, the sequence of operations in the missile control method does not provide the necessary accuracy of launching the missile to the axis of the information field in the initial section, when the timing of the start of the radiation receiver and the opening of the rudders coincide. Due to the fact that the rocket is in the beam by the time the radiation receiver starts to work, the coordinate signals arrive at the IKU input in the form of a voltage jump. As a result, a transient process arises at the output of the IKU, due to both its own transient processes in the closed circuit of the IKU from the moment of feedback closure, and an abrupt change in the voltage at its input at the time the radiation receiver starts functioning.

The performance-correcting device that implements the known method, by virtue of its differentiating properties, will repeatedly amplify (emphasize) this voltage surge, and as a result of the action of the control command formed in this way, the rocket can significantly deviate from the line of sight until it leaves the control field, which will lead to an increase the time of the rocket’s withdrawal to the line of sight and, accordingly, to increase the near border of the zone of damage to the complex or the loss of the rocket.

The duration of the transient at the output of the time constant determined by the ICU of the denominator of the transfer function and the CGI of 3 · T _V / n. Thus, for some time after the start of the radiation receiver and the steering wheels open, the steering drive, along with the control commands formed in accordance with the adopted control law, performs “false” commands due to transient processes at the output of the IKU and leading to additional (non-calculated) withdrawals missiles from the line of sight and, as a consequence of this, an increase in the transition process.

The objective of the invention is to increase the accuracy of the launch of the rocket to the line of sight of the target and reduce the time of the transition process during the launch of the rocket and, accordingly, reduce the near border of the affected area of the complex.

The problem is solved due to the fact that in the way of controlling the beam of a rocket rotating along the roll, which includes launching and moving the rocket in the control field with rudders folded in longitudinal grooves inside the rocket body, opening the radiation receiver and moving the rudders to the outer position relative to the rocket body the formation of control signals of the first and second channels proportional to the deviations of the rocket in the control field relative to the line of sight in the horizontal and vertical planes, respectively, periodic signals of the carrier frequency s (γ), c (γ), proportional to the sine and cosine of the angle of heel γ of the rocket, demodulation of signals proportional to the rudder angles of the first and second steering drives, carrier frequency signals, smoothing in the frequency band Δω and subtraction of the resulting smoothing signals in the first and second channels from the corresponding control signals, generating control signals of the first and second steering gears by modulating the received difference signals in the first and second channels is controlled with carrier frequency signals and rudder deflection in accordance with control signals, rudder deflection after rocket launch is made in the grooves inside the rocket body, and rudders are moved to the outside position after the time τ _З = (0.3 ... 0.5) / Δω, counted from the moment of opening radiation receiver.

The proposed control method is implemented due to the fact that a beam-guided missile rotating along the roll, fired from the starting device by means of a starting engine or propelling device, comprising a housing with longitudinal grooves to accommodate the rudders, a contact closure that is triggered after the end of the starting engine or reset of the pallet, rudder opening mechanism, radiation receiver connected in series, electronic on-board equipment, IKU, including a block of steering drives covered by flexible negatives By integrating feedback envelopes of the output signals of the steering drives, including low-pass filters with a passband Δω, an electronic rudder delay delay unit has been introduced for a time τ _З , the input of which is connected to the contactor, and the output is connected to the rudder opening drive, and the time delay value is selected in the interval τ _З = (0.3 ... 0.5) / Δω, and the longitudinal grooves for each steering wheel in the rocket body are made wide

Δ = 2Rsin (k · δ _m ),

where R is the maximum throwing radius of the steering wheel in the folded position;

δ _m - the maximum angle of deviation of the steering wheel from the zero position in the open position;

k is the utilization coefficient of the linear zone of the direction-finding characteristic of the control field, selected from the relation

h _m / h _L ≤k≤1,

where h _m are the maximum possible deviations of the rocket from the axis of the control field in the time interval from the moment the radiation receiver starts operating until the rudders open;

h _L is the linear zone of the direction-finding characteristic of the beam control field.

The value of h _{m is} determined by the characteristics of the technical dispersion of missiles of this complex on an uncontrolled portion of the flight path

h _m = 3 · σ;

where σ is the standard deviation of the missile coordinates from the axis of the control field in the path section until the rudders open.

The technical result is achieved by posting the start time of the radiation receiver and opening the rudders of the drive, which is ensured by the introduction of an electronic time delay block for opening the rudders, with its input connected to the closure of the starting engine or propelling device, and the output to the rudder opening mechanism. The necessary delay time τ ₃ disclosure of the rudders is determined from the condition for the end of the transition process at the output of the IKU.

From the point of view of ensuring the necessary stability reserves in the missile control loop, the number n (correction filter spacing) is chosen to be 6 ... 10, so the delay time τ _З should be (0.3 ... 0.5) / Δω. Thus, the task is achieved by eliminating the emphasis on the voltage jump at the input of the IKU when the timing of the start of operation of the radiation receiver and the rudders are opened, ensuring that the IKU circuit is closed when the rudders are folded due to the execution of a longitudinal groove of a certain size in each rocket body. The rudders in the folded position can deviate in the grooves at small angles sufficient to close the feedback of the IKU.

The invention is illustrated by graphic materials, in which Fig. 1 shows a block diagram of a device that is the closest analogue, in Fig. 2, and plots of missile deviations from the axis of the beam and the corresponding command generated by the corrective-correcting device, as well as the diagram of angular deviations are presented from top to bottom. rudders depending on the time for the prototype device, and in FIG. 2, b for the proposed guided missile rotating along the roll, FIG. 3 shows a block diagram of this missile.

The essence of the invention is illustrated in figure 3, which shows a block diagram of a controlled roll-roll rocket 43, which includes a start engine 44 (for the option of firing a rocket from a container) or a throwing device (as part of a shot for a variant of firing a rocket from the bore guns), contactor 45. The missile is equipped with a performance-correcting device 46, built on the basis of the coverage of the steering gears along the envelope of the output signals with low-pass filters installed in feedbacks with toyannoy time T _P (for simplicity in Figure 3 illustrates one motor).

The electronic time delay block of the disclosure of the rudders 47 is connected by its input to the output of the contactor 45, and the output is connected with the disclosure of the rudders 49.

The signal from the output of the radiation receiver 1 in the form of voltages proportional to the missile deflection relative to the axis of the beam is fed to the input of the on-board equipment 2 and then to the input of the IKU 46, including steering gears and low-pass filters. Rudders 48 are laid in longitudinal grooves 50 made in the rocket body.

The interaction of the elements of the device in flight is as follows.

After the start engine (throwing device) is finished, the cover of the radiation receiver is opened (the pallet is reset), and coordinate signals in the form of a voltage surge appearing on the output of the IKU, which begins to function from the moment the rocket starts, due to the closure of the circuit of the execution-correcting device, appear on its output due to the possibility of the rudders in the folded position to deviate from the zero position in accordance with the control command.

The possibility of deflecting the rudder in the folded position under the action of control signals is achieved due to the longitudinal groove 50 made in the rocket body from each of the rudders 48.

From the moment of an abrupt change in the signals in the execution-correcting device, its own transient process and its reaction to the jump, i.e. it, along with the necessary control law, generates false commands during the time τ _З = (0.3 ... 0.5) / Δω, which are worked out by the rudders because of the possibility of their rotation in the folded position, but do not affect the flight of the rocket, since the disclosure of the rudders due to the electronic unit time delay occurs after a time τ _W , when the development of "false" commands stops. As can be seen in figure 3, b in the area from t _P (the time the receiver starts to work) to t _P (the moment the rudders open) the rudders oscillate in the folded position, and the maximum rudder deflection angle is determined by the groove width Δ.

The electronic time delay block is made, for example, on the basis of the electronic time relay circuit shown in the book by F.F. Andreev. Electronic automation devices. M .: Mechanical Engineering, 1978, p. 283, fig. 206, b. When the rocket leaves the launch device (launch container or channel of the gun’s barrel), a contactor is activated, and the voltage from the output of the onboard battery is supplied to the input of the electronic time delay unit, which delays the voltage supply to the electric igniter of the rudder opening mechanism.

The radiation receiver, throwing device, contactor and the mechanism for opening the rudders can be performed similarly to the corresponding elements of the rocket 9M119M, p.54, 61, 67, [2]. Electronic on-board equipment, a corrective-correcting device can be made in the same way as in RF patent No. 2373479.

Thus, in the proposed rocket, the transition process at the output of the execution-correcting device, due to both its own transient processes that occur from the moment feedback is closed, covering the steering gears, and abrupt changes in the coordinates of the rocket at its entrance at the time the radiation receiver starts operating, ends the moment the rudders open, which completely eliminates the effect of “false” commands, leading to additional withdrawal of the rocket from the beam in the initial portion of the flight, i.e. to increase the near zone of damage to the complex or the loss of a rocket.

The proposed technical solution allows to reduce the transition time in the missile control circuit when it is output to the axis of the beam and significantly reduce the near boundary of the zone of damage to the complex by spacing the timing of the start of the radiation receiver and the steering wheel opening (the steering wheels open after the radiation receiver starts working) ) and additional circuit closure of the executive-correcting device when the rudders are folded in the rocket body with the possibility of rudder deflection in the grooves inside the missile body at angles determined by the width of the groove. In this case, spasmodic changes in the rocket coordinate signals at the input of the radiation receiver at the initial moment of its operation and the “false” commands generated in this case do not lead to additional missile withdrawal from the center of the beam at the initial flight stage, since these commands are processed by the rocket rudders in the folded position inside the rocket body.

The technical implementation of the proposed guided missile rotating roll is confirmed by laboratory and firing tests of the Whirlwind antitank guided weapons.

Claims (3)

1. A method of controlling a roll of a roll of a rocket rotating along the roll, including launching and moving the rocket in the control field with rudders folded in the longitudinal grooves inside the rocket body, opening the radiation receiver and moving the rudders to an external position relative to the rocket body, generating control signals of the first and second channels proportional to missile deviations in the control field relative to the aiming line, respectively, in horizontal and vertical planes, the formation of periodic signals of the carrier frequency s (γ), c (γ) proportional to the sine and cosine of the rocket angle γ of the rocket, demodulation of signals proportional to the rudder angles of the first and second steering gears, carrier frequency signals, smoothing in the frequency band Δω and subtracting the resulting smoothing signals in the first and second channels from the corresponding control signals, generating control signals of the first and second steering gears by modulating the received difference signals in the first and second control channels of the carrier frequency signals and steering deviation in accordance with the control signals, characterized in that after the launch of the rocket the rudders are deflected in the grooves inside the rocket body, and the rudders are moved to the outside position after the time τ _З = (0.3 ... 0.5) / Δω, counted from the moment opening the radiation receiver. 2. A beam-driven roll-rolling missile fired from a launch device by means of a starting engine or propelling device, comprising a housing with longitudinal grooves for placing the rudders, a contact closure that is triggered after the start engine has run or the pallet has been reset, rudder opening mechanism, radiation receiver connected in series, , on-board equipment, electronic, performance-correcting device, including steering gears covered by flexible envelope feedback signals of steering drives containing low-pass filters with a passband Δω, characterized in that it is equipped with an electronic time delay unit for opening the rudders for a time τ _З , the input of which is connected to the contactor, and the output has a mechanism for opening the rudders, and the value of the time delay τ ₃ choose in the range (0.3 ... 0.5) / Δω. 3. The rocket according to claim 2, characterized in that the longitudinal grooves under each steering wheel in the rocket body are made wide
Δ = 2Rsin (k · δ _m ), where
R is the maximum radius of throwing the steering wheel in the folded position;
δ _m - the maximum angle of deviation of the steering wheel from the zero position in the open position;
k is the utilization coefficient of the linear zone of the direction-finding characteristic of the control field, selected from the relation
h _m / h _L ≤k≤1, where
h _m - the maximum possible deviation of the rocket from the axis of the control field at a time interval from the moment the radiation receiver starts operating until the rudders open;
h _L is the linear zone of the direction-finding characteristic of the beam control field.

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